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<div class="title">sampling_surface_normal.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_IMPL_SAMPLING_SURFACE_NORMAL_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_FILTERS_IMPL_SAMPLING_SURFACE_NORMAL_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/sampling_surface_normal.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#a89ccc27aafff61a6cd19c1a16ef14421">   48</a></span>&#160;<a class="code" href="classpcl_1_1_sampling_surface_normal.html#a89ccc27aafff61a6cd19c1a16ef14421">pcl::SamplingSurfaceNormal&lt;PointT&gt;::applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  std::vector &lt;int&gt; indices;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordtype">size_t</span> npts = input_-&gt;points.size ();</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; npts; i++)</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    indices.push_back (i);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  Vector max_vec (3, 1);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  Vector min_vec (3, 1);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  findXYZMaxMin (*input_, max_vec, min_vec);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> data = *input_;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  partition (data, 0, npts, min_vec, max_vec, indices, output);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = 1;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = uint32_t (output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#af82f2754606ccf51e5fb89a705d92ba9">   66</a></span>&#160;<a class="code" href="classpcl_1_1_sampling_surface_normal.html#af82f2754606ccf51e5fb89a705d92ba9">pcl::SamplingSurfaceNormal&lt;PointT&gt;::findXYZMaxMin</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; cloud, Vector&amp; max_vec, Vector&amp; min_vec)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">float</span> maxval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].x;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">float</span> minval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].x;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x &gt; maxval)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      maxval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    }</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x &lt; minval)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      minval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    }</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  max_vec (0) = maxval;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  min_vec (0) = minval;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  maxval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].y;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  minval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].y;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y &gt; maxval)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      maxval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y &lt; minval)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    {</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      minval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    }</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  max_vec (1) = maxval;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  min_vec (1) = minval;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  maxval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].z;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  minval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].z;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z &gt; maxval)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      maxval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z &lt; minval)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      minval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  max_vec (2) = maxval;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  min_vec (2) = minval;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;}</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#a5e6e359a4fe86a0f2d23df0fb9c1b49b">  122</a></span>&#160;<a class="code" href="classpcl_1_1_sampling_surface_normal.html#a5e6e359a4fe86a0f2d23df0fb9c1b49b">pcl::SamplingSurfaceNormal&lt;PointT&gt;::partition</a> (</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; cloud, <span class="keyword">const</span> <span class="keywordtype">int</span> first, <span class="keyword">const</span> <span class="keywordtype">int</span> last,</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keyword">const</span> Vector min_values, <span class="keyword">const</span> Vector max_values, </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    std::vector&lt;int&gt;&amp; indices, <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp;  output)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;{</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> count (last - first);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordflow">if</span> (count &lt;= <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (sample_))</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    samplePartition (cloud, first, last, indices, output);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  }</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordtype">int</span> cutDim = 0;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  (max_values - min_values).maxCoeff (&amp;cutDim);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> rightCount (count / 2);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> leftCount (count - rightCount);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    assert (last - rightCount == first + leftCount);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="comment">// sort, hack std::nth_element</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    std::nth_element (indices.begin () + first, indices.begin () + first + leftCount,</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                    indices.begin () + last, <a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html">CompareDim</a> (cutDim, cloud));</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> cutIndex (indices[first+leftCount]);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> cutVal = findCutVal (cloud, cutDim, cutIndex);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="comment">// update bounds for left</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    Vector leftMaxValues (max_values);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    leftMaxValues[cutDim] = cutVal;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="comment">// update bounds for right</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    Vector rightMinValues (min_values);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    rightMinValues[cutDim] = cutVal;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="comment">// recurse</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    partition (cloud, first, first + leftCount, min_values, leftMaxValues, indices, output);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    partition (cloud, first + leftCount, last, rightMinValues, max_values, indices, output);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;}</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#ab1e897f208e746cf6c669f3c49b6e45d">  161</a></span>&#160;<a class="code" href="classpcl_1_1_sampling_surface_normal.html#ab1e897f208e746cf6c669f3c49b6e45d">pcl::SamplingSurfaceNormal&lt;PointT&gt;::samplePartition</a> (</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; data, <span class="keyword">const</span> <span class="keywordtype">int</span> first, <span class="keyword">const</span> <span class="keywordtype">int</span> last,</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    std::vector &lt;int&gt;&amp; indices, <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; output)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;{</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;PointT&gt;</a> cloud;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = first; i &lt; last; i++)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> pt;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    pt.x = data.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].x;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    pt.y = data.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].y;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    pt.z = data.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].z;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (pt);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = 1;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = uint32_t (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  Eigen::Vector4f normal;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keywordtype">float</span> curvature = 0;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="comment">//pcl::computePointNormal&lt;PointT&gt; (cloud, normal, curvature);</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  computeNormal (cloud, normal, curvature);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="comment">// TODO: change to Boost random number generators!</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> r = float (std::rand ()) / float (RAND_MAX);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="keywordflow">if</span> (r &lt; ratio_)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      pt.normal[0] = normal (0);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      pt.normal[1] = normal (1);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      pt.normal[2] = normal (2);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      pt.curvature = curvature;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (pt);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  }</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;}</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#a22c30fab2c7fe8bb16d503de915cef61">  204</a></span>&#160;<a class="code" href="classpcl_1_1_sampling_surface_normal.html#a22c30fab2c7fe8bb16d503de915cef61">pcl::SamplingSurfaceNormal&lt;PointT&gt;::computeNormal</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; cloud, Eigen::Vector4f &amp;normal, <span class="keywordtype">float</span>&amp; curvature)</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;{</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  Eigen::Vector4f xyz_centroid;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <span class="keywordtype">float</span> nx = 0.0;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <span class="keywordtype">float</span> ny = 0.0;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="keywordtype">float</span> nz = 0.0;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (cloud, covariance_matrix, xyz_centroid) == 0)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    nx = ny = nz = curvature = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <span class="comment">// Get the plane normal and surface curvature</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  solvePlaneParameters (covariance_matrix, nx, ny, nz, curvature);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  normal (0) = nx;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  normal (1) = ny;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  normal (2) = nz;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  normal (3) = 0;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <span class="comment">// Hessian form (D = nc . p_plane (centroid here) + p)</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  normal (3) = -1 * normal.dot (xyz_centroid);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;}</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#a56e03c564ed205e52ae66da50992d4a9">  231</a></span>&#160;<a class="code" href="classpcl_1_1_sampling_surface_normal.html#a56e03c564ed205e52ae66da50992d4a9">pcl::SamplingSurfaceNormal&lt;PointT&gt;::computeMeanAndCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                                                                    Eigen::Matrix3f &amp;covariance_matrix,</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                                                                    Eigen::Vector4f &amp;centroid)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;{</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="comment">// create the buffer on the stack which is much faster than using cloud.points[indices[i]] and centroid as a buffer</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  Eigen::Matrix&lt;float, 1, 9, Eigen::RowMajor&gt; accu = Eigen::Matrix&lt;float, 1, 9, Eigen::RowMajor&gt;::Zero ();</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> point_count = 0;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  {</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keywordflow">if</span> (!isFinite (cloud[i]))</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    {</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    ++point_count;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    accu [0] += cloud[i].x * cloud[i].x;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    accu [1] += cloud[i].x * cloud[i].y;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    accu [2] += cloud[i].x * cloud[i].z;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    accu [3] += cloud[i].y * cloud[i].y; <span class="comment">// 4</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    accu [4] += cloud[i].y * cloud[i].z; <span class="comment">// 5</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    accu [5] += cloud[i].z * cloud[i].z; <span class="comment">// 8</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    accu [6] += cloud[i].x;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    accu [7] += cloud[i].y;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    accu [8] += cloud[i].z;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  accu /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (point_count);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  centroid[0] = accu[6]; centroid[1] = accu[7]; centroid[2] = accu[8];</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  centroid[3] = 0;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  covariance_matrix.coeffRef (0) = accu [0] - accu [6] * accu [6];</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  covariance_matrix.coeffRef (1) = accu [1] - accu [6] * accu [7];</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  covariance_matrix.coeffRef (2) = accu [2] - accu [6] * accu [8];</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  covariance_matrix.coeffRef (4) = accu [3] - accu [7] * accu [7];</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  covariance_matrix.coeffRef (5) = accu [4] - accu [7] * accu [8];</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  covariance_matrix.coeffRef (8) = accu [5] - accu [8] * accu [8];</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  covariance_matrix.coeffRef (3) = covariance_matrix.coeff (1);</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  covariance_matrix.coeffRef (6) = covariance_matrix.coeff (2);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  covariance_matrix.coeffRef (7) = covariance_matrix.coeff (5);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (point_count));</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;}</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#ad04f598a55e4ef6a76584f1d92b6aa17">  275</a></span>&#160;<a class="code" href="classpcl_1_1_sampling_surface_normal.html#ad04f598a55e4ef6a76584f1d92b6aa17">pcl::SamplingSurfaceNormal&lt;PointT&gt;::solvePlaneParameters</a> (<span class="keyword">const</span> Eigen::Matrix3f &amp;covariance_matrix,</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;                                                          <span class="keywordtype">float</span> &amp;nx, <span class="keywordtype">float</span> &amp;ny, <span class="keywordtype">float</span> &amp;nz, <span class="keywordtype">float</span> &amp;curvature)</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;{</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="comment">// Extract the smallest eigenvalue and its eigenvector</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  EIGEN_ALIGN16 Eigen::Vector3f::Scalar eigen_value;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  EIGEN_ALIGN16 Eigen::Vector3f eigen_vector;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a> (covariance_matrix, eigen_value, eigen_vector);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  nx = eigen_vector [0];</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  ny = eigen_vector [1];</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  nz = eigen_vector [2];</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <span class="comment">// Compute the curvature surface change</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  <span class="keywordtype">float</span> eig_sum = covariance_matrix.coeff (0) + covariance_matrix.coeff (4) + covariance_matrix.coeff (8);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  <span class="keywordflow">if</span> (eig_sum != 0)</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    curvature = fabsf (eigen_value / eig_sum);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    curvature = 0;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;}</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00297"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#af9d1f2db0dfcb6ed3bdfe9a51fea81f6">  297</a></span>&#160;<a class="code" href="classpcl_1_1_sampling_surface_normal.html#af9d1f2db0dfcb6ed3bdfe9a51fea81f6">pcl::SamplingSurfaceNormal&lt;PointT&gt;::findCutVal</a> (</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; cloud, <span class="keyword">const</span> <span class="keywordtype">int</span> cut_dim, <span class="keyword">const</span> <span class="keywordtype">int</span> cut_index)</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;{</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="keywordflow">if</span> (cut_dim == 0)</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <span class="keywordflow">return</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[cut_index].x);</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (cut_dim == 1)</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    <span class="keywordflow">return</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[cut_index].y);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (cut_dim == 2)</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <span class="keywordflow">return</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[cut_index].z);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  <span class="keywordflow">return</span> (0.0f);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;}</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_SamplingSurfaceNormal(T) template class PCL_EXPORTS pcl::SamplingSurfaceNormal&lt;T&gt;;</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_FILTERS_IMPL_NORMAL_SPACE_SAMPLE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a22c30fab2c7fe8bb16d503de915cef61"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a22c30fab2c7fe8bb16d503de915cef61">pcl::SamplingSurfaceNormal::computeNormal</a></div><div class="ttdeci">void computeNormal(const PointCloud &amp;cloud, Eigen::Vector4f &amp;normal, float &amp;curvature)</div><div class="ttdoc">Computes the normal for points in a grid. This is a port from features to avoid features dependency f...</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:204</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a56e03c564ed205e52ae66da50992d4a9"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a56e03c564ed205e52ae66da50992d4a9">pcl::SamplingSurfaceNormal::computeMeanAndCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeMeanAndCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Matrix3f &amp;covariance_matrix, Eigen::Vector4f &amp;centroid)</div><div class="ttdoc">Computes the covariance matrix for points in the cloud. This is a port from features to avoid feature...</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:231</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a5e6e359a4fe86a0f2d23df0fb9c1b49b"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a5e6e359a4fe86a0f2d23df0fb9c1b49b">pcl::SamplingSurfaceNormal::partition</a></div><div class="ttdeci">void partition(const PointCloud &amp;cloud, const int first, const int last, const Vector min_values, const Vector max_values, std::vector&lt; int &gt; &amp;indices, PointCloud &amp;outcloud)</div><div class="ttdoc">Recursively partition the point cloud, stopping when each grid contains less than sample_ points Poin...</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:122</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a89ccc27aafff61a6cd19c1a16ef14421"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a89ccc27aafff61a6cd19c1a16ef14421">pcl::SamplingSurfaceNormal::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Sample of point indices into a separate PointCloud</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:48</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_ab1e897f208e746cf6c669f3c49b6e45d"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#ab1e897f208e746cf6c669f3c49b6e45d">pcl::SamplingSurfaceNormal::samplePartition</a></div><div class="ttdeci">void samplePartition(const PointCloud &amp;data, const int first, const int last, std::vector&lt; int &gt; &amp;indices, PointCloud &amp;outcloud)</div><div class="ttdoc">Randomly sample the points in each grid.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:161</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_ad04f598a55e4ef6a76584f1d92b6aa17"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#ad04f598a55e4ef6a76584f1d92b6aa17">pcl::SamplingSurfaceNormal::solvePlaneParameters</a></div><div class="ttdeci">void solvePlaneParameters(const Eigen::Matrix3f &amp;covariance_matrix, float &amp;nx, float &amp;ny, float &amp;nz, float &amp;curvature)</div><div class="ttdoc">Solve the eigenvalues and eigenvectors of a given 3x3 covariance matrix, and estimate the least-squar...</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:275</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_af82f2754606ccf51e5fb89a705d92ba9"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#af82f2754606ccf51e5fb89a705d92ba9">pcl::SamplingSurfaceNormal::findXYZMaxMin</a></div><div class="ttdeci">void findXYZMaxMin(const PointCloud &amp;cloud, Vector &amp;max_vec, Vector &amp;min_vec)</div><div class="ttdoc">Finds the max and min values in each dimension</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_af9d1f2db0dfcb6ed3bdfe9a51fea81f6"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#af9d1f2db0dfcb6ed3bdfe9a51fea81f6">pcl::SamplingSurfaceNormal::findCutVal</a></div><div class="ttdeci">float findCutVal(const PointCloud &amp;cloud, const int cut_dim, const int cut_index)</div><div class="ttdoc">Returns the threshold for splitting in a given dimension.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:297</div></div>
<div class="ttc" id="agroup__common_html_ga72dfb6e965df9752c88790e026a8ab5f"><div class="ttname"><a href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">pcl::computeMeanAndCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeMeanAndCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single lo...</div><div class="ttdef"><b>Definition:</b> centroid.hpp:489</div></div>
<div class="ttc" id="agroup__common_html_gaca873868052e7d26efcf4b684a17bef2"><div class="ttname"><a href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a></div><div class="ttdeci">void eigen33(const Matrix &amp;mat, typename Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector)</div><div class="ttdoc">determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi d...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:251</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_sampling_surface_normal_1_1_compare_dim_html"><div class="ttname"><a href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html">pcl::SamplingSurfaceNormal::CompareDim</a></div><div class="ttdoc">CompareDim is a comparator object for sorting across a specific dimenstion (i,.e X,...</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:150</div></div>
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